Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example

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Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example

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Title: Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example
Author: Anor, Tomer; Madsen, Joseph Russell; Dupont, Pierre E

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Citation: Anor, Tomer, Joseph R. Madsen, and Pierre Dupont. 2011. "Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example." In Robotics and Automation (ICRA), 2011 IEEE International Conference, pp. 667-673. doi:10.1109/ICRA.2011.5980311
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Abstract: We propose a novel systematic approach to optimizing the design of concentric tube robots for neurosurgical procedures. These procedures require that the robot approach specified target sites while navigating and operating within an anatomically constrained work space. The availability of preoperative imaging makes our approach particularly suited for neurosurgery, and we illustrate the method with the example of endoscopic choroid plexus ablation. A novel parameterization of the robot characteristics is used in conjunction with a global pattern search optimization method. The formulation returns the design of the least-complex robot capable of reaching single or multiple target points in a confined space with constrained optimization metrics. A particular advantage of this approach is that it identifies the need for either fixed-curvature versus variable-curvature sections. We demonstrate the performance of the method in four clinically relevant examples.
Published Version: doi:10.1109/ICRA.2011.5980311
Other Sources: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3262313/
Terms of Use: This article is made available under the terms and conditions applicable to Other Posted Material, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#LAA
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:33894951
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